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                    简介
            
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                    第1章 Cyber RT 概述与环境搭建
            
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                    1.1 Cyber RT 简介
            
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                    1.2 Cyber RT 安装
            
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                    1.2.1 准备工作
            
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                    1.2.2 Cyber RT 安装
            
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                    1.2.3 测试
            
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                    1.3 Cyber RT 集成开发环境搭建
            
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                    1.3.1 Vscode 下载与安装
            
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                    1.3.2 Vscode 插件的安装以及使用
            
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                    1.4 Cyber RT 快速体验
            
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                    1.4.1 c++实现HelloWorld
            
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                    1.4.2 Python实现HelloWorld
            
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                    1.5 预备知识——bazel
            
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                    1.5.1 Bazel使用之基本流程
            
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                    1.5.2 Bazel使用之库依赖
            
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                    1.6 预备知识——protobuf
            
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                    1.6.1 proto使用之文件创建
            
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                    1.6.2 proto读写之C++实现
            
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                    1.6.3 proto读写之Python实现
            
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                    1.7 本章小结
            
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                    第2章 Cyber RT 通信机制
            
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                    2.1 话题通信
            
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                    2.1.1C++实现
            
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                    2.1.2 Python实现
            
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                    2.2 服务通信
            
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                    2.2.1 C++实现
            
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                    2.2.2 Python实现
            
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                    2.3 参数
            
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                    2.3.1 C++实现
            
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                    2.3.2 Python实现
            
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                    2.4 组件
            
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                    2.4.1 通用组件演示(上)
            
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                    2.4.2 通用组件演示(下)
            
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                    2.4.3 定时器组件演示
            
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                    2.5 本章小结
            
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                    第3章 Cyber RT 开发工具
            
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                    3.1 cyber record
            
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                    3.2.1 C++ 实现
            
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                    3.3.2 Python 实现
            
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                    3.2 常用命令
            
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                    3.3 本章小结
            
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                    第4章 Cyber RT 常用API
            
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                    4.1 节点相关API
            
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                    4.2 话题相关API
            
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                    4.3 服务相关API
            
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                    4.4 参数相关API
            
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                    4.5 组件相关API
            
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                    4.6 时间相关API
            
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                    4.7 日志相关API
            
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                    4.8 record 相关API
            
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                    4.9 本章小结
            
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                                <h2 id="32-&#x5E38;&#x7528;&#x547D;&#x4EE4;">3.2 &#x5E38;&#x7528;&#x547D;&#x4EE4;</h2>
<p>&#x901A;&#x8FC7;&#x524D;&#x9762;&#x5185;&#x5BB9;&#x7684;&#x5B66;&#x4E60;&#xFF0C;&#x60F3;&#x5FC5;&#x5927;&#x5BB6;&#x5BF9;&#x901A;&#x4FE1;&#x672C;&#x8EAB;&#x7684;&#x5B9E;&#x73B0;&#x6D41;&#x7A0B;&#x4EE5;&#x53CA;&#x76F8;&#x5173;API&#x6709;&#x4E00;&#x5B9A;&#x4E86;&#x89E3;&#x4E86;&#xFF0C;&#x63A5;&#x4E0B;&#x6765;&#x6211;&#x4EEC;&#x518D;&#x4ECB;&#x7ECD;&#x4E00;&#x4E0B;&#x901A;&#x4FE1;&#x5E94;&#x7528;&#x4E2D;&#x53EF;&#x80FD;&#x4F1A;&#x9047;&#x5230;&#x7684;&#x4E00;&#x4E9B;&#x95EE;&#x9898;&#xFF0C;&#x6BD4;&#x5982;&#xFF1A;</p>
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<li><p>&#x8C03;&#x8BD5;&#x65F6;&#x6211;&#x4EEC;&#x5982;&#x4F55;&#x83B7;&#x53D6; Cyber RT &#x4E2D;&#x8FD0;&#x884C;&#x7684;&#x8282;&#x70B9;&#x53CA;&#x5176;&#x76F8;&#x5173;&#x72B6;&#x6001;&#xFF1F;</p>
</li>
<li><p>&#x5F00;&#x53D1;&#x65F6;&#x6211;&#x7F16;&#x5199;&#x5B8C;&#x4E86;&#x53D1;&#x5E03;&#x8282;&#x70B9;&#xFF0C;&#x5982;&#x4F55;&#x5FEB;&#x901F;&#x9A8C;&#x8BC1;&#x8282;&#x70B9;&#x8FD0;&#x884C;&#x662F;&#x5426;&#x6B63;&#x5E38;&#x5462;&#xFF1F;</p>
</li>
<li><p>&#x5982;&#x4F55;&#x5224;&#x65AD;&#x6D88;&#x606F;&#x53D1;&#x5E03;&#x7684;&#x9891;&#x7387;&#x662F;&#x5426;&#x7B26;&#x5408;&#x9884;&#x671F;&#xFF1F;</p>
</li>
<li><p>......</p>
</li>
</ul>
</blockquote>
<p>&#x5728; Cyber RT &#x4E2D;&#x63D0;&#x4F9B;&#x4E86;&#x4E00;&#x4E9B;&#x547D;&#x4EE4;&#x5DE5;&#x5177;&#xFF0C;&#x53EF;&#x4EE5;&#x65B9;&#x4FBF;&#x5FEB;&#x6377;&#x7684;&#x89E3;&#x51B3;&#x4E0A;&#x8FF0;&#x95EE;&#x9898;&#xFF0C;&#x672C;&#x90E8;&#x5206;&#x5185;&#x5BB9;&#x5C31;&#x4E3B;&#x8981;&#x4ECB;&#x7ECD;&#x8FD9;&#x4E9B;&#x547D;&#x4EE4;&#x7684;&#x4F7F;&#x7528;&#xFF0C;&#x5E38;&#x7528;&#x7684;&#x901A;&#x4FE1;&#x76F8;&#x5173;&#x547D;&#x4EE4;&#x5982;&#x4E0B;&#xFF1A;</p>
<ol>
<li>cyber_node&#xFF1B;</li>
<li>cyber_channel&#xFF1B;</li>
<li>cyber_service&#xFF1B;</li>
<li>cyber_launch&#x3002;</li>
</ol>
<p>&#x5173;&#x4E8E;&#x547D;&#x4EE4;&#x7684;&#x4F7F;&#x7528;&#xFF0C;&#x53EF;&#x4EE5;&#x67E5;&#x770B;&#x5176;&#x5185;&#x7F6E;&#x7684;&#x5E2E;&#x52A9;&#x6587;&#x6863;&#xFF0C;&#x4EE5;&#x65B9;&#x4FBF;&#x5B66;&#x4E60;&#x4E0E;&#x5E94;&#x7528;&#xFF0C;&#x83B7;&#x53D6;&#x4F7F;&#x7528;&#x8BF4;&#x660E;&#x7684;&#x65B9;&#x5F0F;&#x5982;&#x4E0B;&#xFF1A;</p>
<p>1.&#x83B7;&#x53D6;&#x67D0;&#x4E2A;&#x6307;&#x4EE4;&#x7684;&#x4F7F;&#x7528;&#x8BF4;&#x660E;&#xFF0C;&#x53EF;&#x4EE5;&#x8F93;&#x5165;&#x5982;&#x4E0B;&#x683C;&#x5F0F;&#x7684;&#x547D;&#x4EE4;</p>
<pre><code>cyber_xxx -h
</code></pre><p>2.&#x83B7;&#x53D6;&#x67D0;&#x4E2A;&#x6307;&#x4EE4;&#x7684;&#x67D0;&#x4E2A;&#x53C2;&#x6570;&#x7684;&#x4F7F;&#x7528;&#x8BF4;&#x660E;&#xFF0C;&#x53EF;&#x4EE5;&#x8F93;&#x5165;&#x5982;&#x4E0B;&#x683C;&#x5F0F;&#x7684;&#x547D;&#x4EE4;</p>
<pre><code>cyber_xxx yyy -h
</code></pre><p><strong>&#x51C6;&#x5907;&#x5DE5;&#x4F5C;</strong></p>
<p>&#x542F;&#x52A8;&#x591A;&#x4E2A;&#x8282;&#x70B9;&#xFF0C;&#x5E76;&#x5728;&#x8C03;&#x7528;&#x547D;&#x4EE4;&#x4E4B;&#x524D;&#x8BF7;&#x5148;&#x52A0;&#x8F7D;&#x73AF;&#x5883;&#x53D8;&#x91CF;</p>
<pre><code>source cyber/setup.bash
</code></pre><hr>
<h4 id="1cybernode">1.cyber_node</h4>
<p>&#x7528;&#x4E8E;&#x83B7;&#x53D6; Cyber RT &#x4E2D;&#x8FD0;&#x884C;&#x7684;&#x8282;&#x70B9;&#x7684;&#x76F8;&#x5173;&#x4FE1;&#x606F;&#x3002;</p>
<pre><code>cyber_node list      &#x5217;&#x51FA;&#x6240;&#x6709;&#x8FD0;&#x884C;&#x4E2D;&#x7684;&#x8282;&#x70B9;
cyber_node info xxx  &#x8F93;&#x51FA;&#x67D0;&#x4E2A;&#x8282;&#x70B9;&#x6216;&#x6240;&#x6709;&#x8282;&#x70B9;&#x4FE1;&#x606F;
</code></pre><h4 id="2cyberchannel">2.cyber_channel</h4>
<p>&#x83B7;&#x53D6;&#x5173;&#x4E8E;&#x8BDD;&#x9898;&#x7684;&#x76F8;&#x5173;&#x4FE1;&#x606F;&#x3002;</p>
<pre><code>cyber_channel list   &#x5217;&#x51FA;&#x6240;&#x6709;&#x8FD0;&#x884C;&#x4E2D;&#x7684;&#x8BDD;&#x9898;
cyber_channel info   &#x8F93;&#x51FA;&#x8BDD;&#x9898;&#x76F8;&#x5173;&#x4FE1;&#x606F;(&#x53D1;&#x5E03;&#x8005;&#x3001;&#x8BA2;&#x9605;&#x8005;&#x3001;&#x6D88;&#x606F;&#x7C7B;&#x578B;....)
cyber_channel echo   &#x8F93;&#x51FA;&#x8BDD;&#x9898;&#x6D88;&#x606F;
cyber_channel hz     &#x8F93;&#x51FA;&#x8BDD;&#x9898;&#x6D88;&#x606F;&#x7684;&#x53D1;&#x5E03;&#x9891;&#x7387;
cyber_channel bw     &#x8F93;&#x51FA;&#x6D88;&#x606F;&#x53D1;&#x5E03;&#x6240;&#x5360;&#x7528;&#x5E26;&#x5BBD;
cyber_channel type   &#x8F93;&#x51FA;&#x8BDD;&#x9898;&#x6D88;&#x606F;&#x7C7B;&#x578B;
</code></pre><h4 id="3cyberservice">3.cyber_service</h4>
<p>&#x83B7;&#x53D6;&#x5173;&#x4E8E;&#x670D;&#x52A1;&#x7684;&#x76F8;&#x5173;&#x4FE1;&#x606F;&#x3002;</p>
<pre><code>cyber_service list   &#x5217;&#x51FA;&#x6240;&#x6709;&#x8FD0;&#x884C;&#x4E2D;&#x7684;&#x670D;&#x52A1;
cyber_service info   &#x8F93;&#x51FA;&#x67D0;&#x4E2A;&#x670D;&#x52A1;&#x7684;&#x76F8;&#x5173;&#x4FE1;&#x606F;
</code></pre><h4 id="4cyberlaunch">4.cyber_launch</h4>
<p>&#x7528;&#x4E8E; launch &#x6587;&#x4EF6;&#x7684;&#x542F;&#x52A8;&#x4E0E;&#x5173;&#x95ED;&#x3002;</p>
<pre><code>cyber_launch start   &#x542F;&#x52A8; launch &#x6587;&#x4EF6;
cyber_launch stop    &#x5173;&#x95ED; launch &#x6587;&#x4EF6;&#x4E2D;&#x7684;&#x6A21;&#x5757;
</code></pre><h4 id="5cybermonitor">5.cyber_monitor</h4>
<h4 id="6cyberrecord">6.cyber_record</h4>
<p>&#x7528;&#x4E8E;&#x5F55;&#x5236;&#x6216;&#x91CD;&#x653E; record &#x6587;&#x4EF6;&#x3002;</p>
<pre><code>info    &#x663E;&#x793A; record &#x6587;&#x4EF6;&#x7684;&#x76F8;&#x5173;&#x4FE1;&#x606F;
play    &#x91CD;&#x653E; record &#x6587;&#x4EF6;
record  &#x5F55;&#x5236; record &#x6587;&#x4EF6;
split   &#x5206;&#x5272; record &#x6587;&#x4EF6;
recover &#x590D;&#x5236; record &#x6587;&#x4EF6;
</code></pre><p>&#x7EFC;&#x4E0A;&#xFF0C;&#x8FD9;&#x662F;&#x76EE;&#x524D;&#x4F4D;&#x7F6E; Cyber RT &#x4E2D;&#x63D0;&#x4F9B;&#x7684;&#x5173;&#x4E8E;&#x901A;&#x4FE1;&#x7684;&#x4E00;&#x4E9B;&#x547D;&#x4EE4;&#xFF0C;&#x719F;&#x7EC3;&#x4F7F;&#x7528;&#x8FD9;&#x4E9B;&#x547D;&#x4EE4;&#x53EF;&#x4EE5;&#x5927;&#x5927;&#x63D0;&#x9AD8;&#x5F00;&#x53D1;&#x548C;&#x8C03;&#x8BD5;&#x6210;&#x672C;&#x3002;</p>

                                
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